Force-torque Control Implementation for 2 DoF Manipulator

Titov, Victor; Shardyko, Igor; Исаенко, С. И.

doi:10.1016/j.proeng.2014.03.114

Cited by 7 publications

(4 citation statements)

References 6 publications

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“…Adaption by a deformable structure includes structures that can be controlled to perform certain movements or deformations in one or more degrees of freedom of which the technology is described in [20][21][22][23]. Adaption based on control system includes sensors and actuators that can provide the necessary actions to take on the mechanism or system caused by the operational conditions of which the technology is described in [24][25][26][27].…”

Section: Categorization Of Adaptabilitymentioning

confidence: 99%

Introducing adaptive mechatronic designs in bulk handling industry

Kol

Jovanova

Mohajeri

et al. 2021

2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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The advances of mechatronic system design and system integration have shown improvements in functionality, performance and energy efficiency in many applications across industries, from autonomous ground vehicles and drones to conveyor belts. This trend has been adopted in some industries more than others. The design of equipment to handle granular or bulk material is commonly based on traditional approaches. Therefore, introducing mechatronic concepts in the design procedure can enable new possibilities, such as sensor integration and data analyses, adaptability and control. The efficiency of bulk material handling equipment in ports, agriculture and food processing is heavily influenced by the operational conditions. Typically, a piece of equipment is designed for defined operational conditions when the maximum performance can be achieved. In this work the concept of adaptability to varying operational conditions is explored by understanding the technologies implemented in other industries and the feasibility to be implemented in the bulk handling equipment design. Sensing technology, actuation and adaptability are systematically presented in this work to support the design process of the next generation of bulk handling equipment. This will pave the way for incorporating the technological trends in the design, such as: sustainability, "smartness", Internet of Things, Industry 4.0, digital twin and machine learning. Adaptive mechatronic solutions will play a crucial role in generating and implementing innovative sustainable solutions for bulk handling equipment.

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Section: Categorization Of Adaptabilitymentioning

confidence: 99%

Introducing adaptive mechatronic designs in bulk handling industry

Kol

Jovanova

Mohajeri

et al. 2021

2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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“…The design for the universal haptic device suitable for a wide range of application and exploitation conditions is presented. The force feedback approach implemented in the device incorporate the results previously presented in [3].…”

Section: Introductionmentioning

confidence: 99%

Design and Simulation Analysis of Haptic Device With Parallel Kinematics

Kuznetcova¹,

Titov²,

Smirnov³

et al. 2018

Proceedings of the 29th International DAAAM Symposium 2018

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The paper presents a description of a haptic device design for remote control of robotic systems. The device includes actuators with torque motors utilized in force feedback for a human operator. Partial mechanical compensation of gravity torques is employed to facilitate the actuation, reduce the motors size and consumption. The kinematic workspace and accuracy map of the device is calculated using Monte Carlo simulation to verify the achievement of the design objectives. As a main output signals position/orientation, velocity and accelerations are chosen as the most applicable for general motion specification. An advanced method utilizing Kalman filter approach for estimation of velocity and acceleration from positions measurements is presented along with simulation results.

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“…In this case it is possible to see the axes misalignment only in one projection, because of the static view of a single external camera. Safe functioning and convenient control can be achieved through different approaches in robotics, most popular of which include machine vision [1,2] and forcetorque control [3][4][5]. An approach here is a general paradigm, first of all, a type of employed hardware, such as video cameras, 3D-scanners or force-torque sensors.…”

Section: Introductionmentioning

confidence: 99%

Implementation of impedance trajectory control on a 6-DoF manipulator

Shardyko

Titov

2018

MATEC Web Conf.

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Abstract. Aiming at enhancing the performance of a robotic system, i.e. of a robot manipulator, it is extremely important to ensure the safety of its functioning and the convenience of operating it. Special attention is required if there is a possibility of a collision, especially with costly equipment or with a person. Among the different means and approaches to prevent or react to such situations, implementation of forcetorque control is considered in this paper. A trajectory task is analysed and an impedance control law is employed to achieve the desired robot behaviour. The effectiveness of the approach has been verified by using a 6-DoF elbow manipulator to perform two types of operations: a peg-in-hole task and path execution with obstacles on the way.

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Force-torque Control Implementation for 2 DoF Manipulator

Cited by 7 publications

References 6 publications

Introducing adaptive mechatronic designs in bulk handling industry

Introducing adaptive mechatronic designs in bulk handling industry

Design and Simulation Analysis of Haptic Device With Parallel Kinematics

Implementation of impedance trajectory control on a 6-DoF manipulator

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